4 Repair
4.6.5. Replacement of motor, axis 4
3HAC026660-001 Revision: C194
© Copyright 2006-2008 ABB. All rights reserved.
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
Standard toolkit The contents are defined in
section Standard toolkit on
page 237.
Power supply - 24 VDC, max. 1,5 A.
For releasing the brakes.
Rotation tool, motor 3HAC022266-
003
For adjusting the gear play.
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step instruc-
tions below.
These procedures include
references to the tools
required.
Circuit Diagram See chapter Circuit
diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Manually move the robot to a position where the
upper arm points straight down.
This will enable the motor 4 to be
removed without draining the oil in
the gearbox.
3. Remove the cover from the upper arm housing.
4. Remove the connector plate to get access to the
axis 4 motor.
Shown in the figure Location of
motor on page 193.
5. Disconnect the connectors R3.MP4 and R3.FB4
from the axis 4 motor.
6. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector R3.MP4
• +: pin 7
• -: pin 8
7. Remove the motor, axis 4 by unscrewing the motor
attachment screws.
Shown in the figure Location of
motor on page 193.
8. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
9. Remove the motor by gently lifting it out. Make sure the motor pinion is not
damaged!
Continued
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